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4. CiA402 Drive Profile

4.4

Cyclic Synchronous Position Mode

4.4.1

Definition

Cyclic Synchronous Position Mode(CSP Mode) assigns target position to controller by Master’s operation
profile creation function through cyclic communication. Controller internally executes position / velocity
control with receipt of target position in each cycle.
To use CSP Mode, Mode of operation (6060h) Cyclic Synchronous Position Mode needs to be set. Mode
of operation display (6061h) is shown as Cyclic Synchronous Position Mode, Target position transmitted
from master : Object 607Ah: Target position is executed.

4.4.2

Related Objects

Figure 4.2: CSP Mode Objects

4.4.3

Control word and Status word

Control word

Control word under CSP Mode are as follows.

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

-

-

-

-

-

-

-

Halt

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

Fault Reset

-

-

-

Enable Op-
eration

Quick Stop

Enable Volt-
age

Switch On

Table 4.11: Control word under CSP Mode

Please refer to

4.4 Set Control word for status movement

for the rest of bits.

Status word

Status word (6041h) under CSP Mode are as follows.

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

Safety Acti-
vated

-

Following
Error

Target
position
ignored

Internal
Limit Active

-

Remote

-

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

-

Switch

on

disabled

Quick stop

Voltage en-
abled

Fault

Operation
enabled

Switched on

Ready

to

switch on

Table 4.12: Status word under CSP Mode

Please refer to drive status control for the rest of bits.

Rev.37

FASTECH Co., Ltd.

38

Содержание Ezi-STEPII EtherCAT MINI

Страница 1: ...Open Loop Stepping System EtherCAT Network User Manual Ezi STEPII EtherCAT MINI FASTECH Co Ltd ...

Страница 2: ...2 2 4 5 Motor Connection Connector 22 2 4 6 Power Connector 22 2 4 7 USB Connector 22 2 5 Appendix 23 2 5 1 Extension Cable for Motor 23 2 5 2 Extension Cable for Encoder 23 2 5 3 Connector Specifications 24 3 EtherCAT Communication 25 3 1 CAN application protocol over EtherCAT 26 3 1 1 Object Dictionary 26 3 1 2 Mailbox Communication 26 3 1 3 Process Data Communication 27 3 2 PDO Mapping 27 3 2 1...

Страница 3: ...on 51 4 8 2 Related Objects 51 4 8 3 User I O 51 4 8 4 ORIGIN and LIMIT Input 51 4 8 5 BRAKE Output 52 4 9 Safety Function 52 4 9 1 Operation of Safety Function 53 5 Operation 55 5 1 Operation Sequence 56 5 2 Setting 56 5 2 1 Installation 56 5 2 2 Wiring 56 5 2 3 Input Power 56 5 2 4 PDO Mapping 56 5 2 5 Set Communication Status 57 5 3 Operation 57 5 3 1 Drive Status Control 57 5 3 2 Set Mode 57 5...

Страница 4: ... code 71 6 5 7 Object 605Dh Halt option code 71 6 5 8 Object 605Eh Fault reaction option code 72 6 5 9 Object 6060h Mode of operation 72 6 5 10 Object 6061h Mode of operation display 72 6 5 11 Object 6062h Position demand value 72 6 5 12 Object 6064h Position actual value 72 6 5 13 Object 606Bh Velocity demand value 73 6 5 14 Object 606Ch Velocity actual value 73 6 5 15 Object 607Ah Target positio...

Страница 5: ...03h Limit stop method 83 6 6 4 Object 2004h External Encoder 83 6 6 5 Object 2006h Start speed 84 6 6 6 Object 2007h Run current 84 6 6 7 Object 2008h Boost current 85 6 6 8 Object 2009h Stop current 85 6 6 9 Object 200Ah Motor number 86 6 6 10 Object 200Ch Reference resolution 86 6 6 11 Object 200Fh Encoder filter time 86 6 6 12 Object 2010h Brake delay 87 6 6 13 Object 2011h Digital input levels...

Страница 6: ... motion con troller supports Field network EtherCAT This manual describes handling safety instruction diagnosis and troubleshooting of Ezi STEPII EtherCAT MINI Before operating Ezi STEPII EtherCAT MINI thoroughly read this manual After reading the manual keep the manual near the product so that any user can read the manual whenever needed Rev 37 FASTECH Co Ltd 6 ...

Страница 7: ...e manual and fully understand the con tents Also before operation please understand the mechanical characteristics of the product and related safety information and precautions User manual describes level of precaution for safety as Warning and Danger Warning If user does not properly handle the product the user may seriously or slightly injured and damages may occur in the machine Danger If user ...

Страница 8: ...occur Please follow the wiring diagram for cable connection Otherwise a fire or other kinds of accidents may occur Danger Before connecting cables please check if input power is OFF Otherwise a fire or other kinds of accidents may occur The case of Ezi STEPII EtherCAT MINI is insulated from the ground of the internal circuit by the condenser so please ground the product Otherwise an electric shock...

Страница 9: ...ctricity remains in the capacitor may cause danger as like electric shock Do not change cabling while power is being supplied Otherwise the user may get injured or the product may get damaged Do not reconstruct the product Otherwise an electric shock may occur or the reconstructed product can not get After Sales Service Rev 37 FASTECH Co Ltd 9 ...

Страница 10: ...Chapter 1 Product Specification Rev 37 FASTECH Co Ltd 10 ...

Страница 11: ...or Flange Size 42 42mm 56 56mm 60 60mm 86 86mm Motor Length S Small M Medium L Large XL Extra Large Encoder Resolution A 10 000 ppr Reduction Gear Ratio Blank Without Gear PN03 1 3 PN05 1 5 PN08 1 8 PN10 1 10 PN15 1 15 PN25 1 25 PN40 1 40 PN50 1 50 Brake Blank Without Brake BK Brake Figure 1 1 Model Naming Rev 37 FASTECH Co Ltd 11 ...

Страница 12: ...Topology Line Structured by Products only Tree Star When use Junction products Support Protocol CoE CANopen application protocol over EtherCAT FoE File Access over EtherCAT Control Profile CiA402 drive profile IEC61800 7 Supported Operation Mode Cyclic Synchronous Position Mode Profile Position Mode Homing Mode Synchronization Free Run SM Event DC SYNC Event minimum cycle time 250us Processing Dat...

Страница 13: ...Storage 10 90 RH Non Condensing Vib Resist 0 5g Function Rotation Speed 0 3 000 rpm Resolution ppr 500 100 000 pulse Selectable by parameter Protection Functions Over Current Error Over Speed Error Over Temperature Error Over Regenerated Voltage Error Motor Connect Error ROM Error I O Signal Input Signals 3 dedicated input LIMIT LIMIT ORIGIN 3 user inputs Photocoupler Input Output Signals Brake 2 ...

Страница 14: ...Chapter 2 Installation Rev 37 FASTECH Co Ltd 14 ...

Страница 15: ... 50 C 2 If temperature of the case is 50 C radiate the outside to cool down 3 Do not install this product under direct rays or near magnetic or radioactive objects 4 If more than 2 drives are installed in a line keep the interval of 20mm or more vertically and 50mm or more horizontally at least over 20mm over 50mm Rev 37 FASTECH Co Ltd 15 ...

Страница 16: ...2 Installation 2 2 System Configuration Figure 2 1 System Configuration Diagram of Ezi STEPII EtherCAT MINI Rev 37 FASTECH Co Ltd 16 ...

Страница 17: ...2 Installation 2 3 External Wiring Diagram Figure 2 2 External Wiring Diagram of Ezi STEPII EtherCAT MINI Rev 37 FASTECH Co Ltd 17 ...

Страница 18: ...2 Installation 2 4 Appearance and Part Name Figure 2 3 Appearance of Ezi STEPII EtherCAT MINI Rev 37 FASTECH Co Ltd 18 ...

Страница 19: ...tus Description RUN Green OFF Init Status or Power OFF Blinking Pre Operational Status Single Flash Safe Operational Status ON Operational Status Flickering Bootstrap Status ERR Red OFF Non error status or Power OFF Blinking Extra Error Single Flash Sync Error Double Flash Watch dog Error LA1 LA2 Green OFF Link not established in physical layer ON Link established in physical layer Flickering In o...

Страница 20: ...m Master into communication connection ECAT IN If there is next controller connect communication cable from ECAT OUT to next controller of ECAT IN No Function 1 TD 2 TD 3 RD 4 RD 5 F GND Table 2 2 EtherCAT Connector EtherCAT Communication Cable Recommend to use communication cable Min CAT5e level above CAT5e or above Shield type SF FTP S FTP SF UTP Length Max 50m Distance between Nodes Rev 37 FAST...

Страница 21: ...o assign origin of mechanisms Brake Signal Output Signal Brake function prevents motor rotation under Servo OFF Status by BRAKE BRAKE pin of I O Connec tor 2 3 I O Connector BRAKE is for 24V externally supplied to operate Brake circuit and BRAKE is output signal for actual motor control Control signal automatically generates according to Servo ON OFF status and Alarm generation This output functio...

Страница 22: ...Phase Output Table 2 5 Motor Connection Connector of Ezi STEPII EtherCAT MINI 2 4 6 Power Connector No Function I O 1 24VDC Input 2 GND Input 2 1 Table 2 6 Power Connection Connector of Ezi STEPII EtherCAT MINI 2 4 7 USB Connector Connect to a PC using USB cable to the USB Connector Monitoring status of drive and setting param eters are possible using a provided PC program Network Setting Program ...

Страница 23: ...ng Connector of Motor Pin layout Pin number Pin number Pin layout 1 1 2 2 3 3 4 4 Table 2 8 Wiring Diagram of Ezi STEPII EtherCAT MINI 2 5 2 Extension Cable for Encoder For cable extension between Encoder and Drive Connector of Drive Wiring Connector of Motor Pin layout Pin number Pin number Pin layout 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 91 91 10 1 Connect to Shield Table 2 9 Wiring Diagram Rev 37 FAS...

Страница 24: ...57 04R MOLEX Terminal 5556T Encoder Drive side Housing 501646 1000 MOLEX Terminal 501648 1000 AWG 26 28 Motor side Housing SMP 09V NC JST Terminal SHF 001T 0 8BS Signal Housing 501646 1200 MOLEX Terminal 501648 1000 AWG 26 28 Table 2 10 Connector specification of Ezi STEPII EtherCAT MINI These connectors are serviced together with Ezi STEPII EtherCAT MINI except when purchasing option cables Above...

Страница 25: ...Chapter 3 EtherCAT Communication Rev 37 FASTECH Co Ltd 25 ...

Страница 26: ...ictionary is dictionary of Objects what product has 3 1 2 Mailbox Communication Master and Slave commands and receives Service Data Object SDO at Mailbox communication SDO Communication This communication method is the way of message transfer and master delivers com mand and slave responses SDO Communication used for setting or confirmation of objects at Object Dictionary This communication can be...

Страница 27: ...erational status of controller and TxPDO is only available for Safe Operational Figure 3 2 EtherCAT PDO Communication 3 2 PDO Mapping PDO Mapping is to set Application Object will be delivered and received by PDO communication 3 2 1 PDO Mapping TxPDO Mapping information to be delivered to Master is to set at 1600h 1601h Object and RxPDO Mapping information to be received command from master is to ...

Страница 28: ...ion is to reset Status of communi cation is not available at this stage Pre Operational Available Non Available Non Available After initialization of communi cation enters into this stage Network setting is initialized Only mailbox communication is available at this stage Safe Operational Available Non Available Available Stage of TxPDO communica tion is available Operational Available Available A...

Страница 29: ...t of EtherCAT communication SM Event is gener ated once controller receives EtherCAT Frame Once synchronization by SM Event each one of controller has few us range of jitter 3 4 3 DC Sync Event Synchronized controller runs under Sync Interrupt is generated according to Distributed Clock following DC DC is synchronized time shared between Master and Slave With synchronized clock interrupt is gen er...

Страница 30: ...Master This file is described slave device information as XML format based on EtherCAT specifications With recording of XML file into EtherCAT Master Equipment through EtherCAT setting equipment easily implement PDO and SDO setting of Slave device Information XML file can be downloaded from product website of archives Rev 37 FASTECH Co Ltd 30 ...

Страница 31: ...Chapter 4 CiA402 Drive Profile Rev 37 FASTECH Co Ltd 31 ...

Страница 32: ...uct moves as follows Status movement is executed by status of controller and Control word 6040h and current status can be checked by Status word 6041h Figure 4 1 Drive State Machine Status movement and meaning of each status is as follows Rev 37 FASTECH Co Ltd 32 ...

Страница 33: ...k Stop command from control device The quick stop function shall be started 12 Automatic transition depends on the Quick stop option code The drive function shall be disabled Motor power shall be switched off 13 Fault signal the configured fault reaction function shall be executed 14 Automatic transition The drive function shall be disabled Motor power shall be switched off 15 Fault Reset command ...

Страница 34: ... for status movement If Quick stop option code 605Ah of value is 5 6 7 8 under Quick stop active status waiting at corre spondent status Able to move to Operation Enabled status by Enable Operation command of Control word Other bits are as follows Bit Value Description 8 0 The motion is executed or continued 1 Stop motor according to Halt option code 605Dh Table 4 5 Bit description of Control word...

Страница 35: ...ation enabled xxxx xxxx x00x 0111b Quick stop active xxxx xxxx x0xx 1111b Fault reaction active xxxx xxxx x0xx 1000b Fault Table 4 7 Current status following by Status word Other bits are as follows Bit Value Description 9 1 Control word processed normally 11 1 Software Limit was detected 15 1 The Safety function was activated and stopped Please refer to 4 9 Safety Function for Safety function Tab...

Страница 36: ... by itself FF42h 65346 66 Torque disable Failure The SVON signal of drive was not off during the Torque Enable process FF44h 65348 68 Over Speed in CSP In CSP mode the commanded speed value exceeds the speed limit and cannot be followed FF45h 65349 69 Safety Activated The safety function is activated and drive is Torque Disabled FF47h 65351 71 Network Initialization Error An error occurred while i...

Страница 37: ...e of operation display 6061h Able to set selected operation mode by Mode of operation 6060h Currently activated operation mode can be checked by Mode of operation display 6061h Operation modes supported by current controller are as follows Mode of operation Description Abbreviation 1 Profile Position Mode PP 6 Homing Mode HM 8 Cyclic Synchronous Position Mode CSP Table 4 10 Supported Operation Mod...

Страница 38: ...trol word and Status word Control word Control word under CSP Mode are as follows Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Halt Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Fault Reset Enable Op eration Quick Stop Enable Volt age Switch On Table 4 11 Control word under CSP Mode Please refer to 4 4 Set Control word for status movement for the rest of bits Status word Status word 604...

Страница 39: ...ription 12 0 Target position value ignored 1 Target position value executed 13 1 Following Error has occurred Table 4 13 Bit description of Status word under CSP Mode For other bits please refer to 4 6 Status word Rev 37 FASTECH Co Ltd 39 ...

Страница 40: ...on Mode ready to use position control command 4 5 2 Related Objects Figure 4 3 Profile Position Mode 4 5 3 Control word and Status word Control word Control word under Profile Position Mode are as follows Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Halt Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Fault Reset Relative Change Set Immedi ately New Set Point Enable Op eration Quick Stop ...

Страница 41: ...t 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Switch on disabled Quick stop Voltage en abled Fault Operation enabled Switched on Ready to switch on Table 4 16 Status word under Profile Position Mode The functions of bits added in Profile Position Mode are as follows Bit Value Description 10 0 The motor is moving through a motion command 1 The motor has stopped 12 0 Control Word of New Set Point Bit 4 ha...

Страница 42: ...evious position movement So if already inputs next target position at buffer position movement command can be executed immediately without time delay t t t t t Actual Speed Control Word bit 4 New Set Point Target Position Status Word bit 12 Set Point Acknowledge Status Word bit 10 Target Reached Figure 4 5 Next Set Point At this time Status word of Set Point Acknowledge Bit 12 is going to be RESET...

Страница 43: ... target position it will move to new target position passing by previous target position 2 If new target position is behind of previous target position it will be decelerated according to cor respondent position and if need it can stop and move to opposite direction If there is no previous position movement command or already completed command under Change Set Immediately Bit 5 under SET status is...

Страница 44: ...ction if opposite side of Limit Switch goes ON origin search goes failure If Sensor origin and mechanical origin is different able to set with using Home offset 607Ch Once position of mechanical origin is set to Home Offset Status word bit 12 Home Attained is going to be ON and position objects will be initialized When Limit Switch is ON during Homing operation it stops to change the direction How...

Страница 45: ...2 Bit 10 Description x x 0 Origin search operation is on going 0 0 1 Origin search operation canceled or not started yet 0 1 1 Origin search has successfully completed 1 0 1 Origin search has failed Controller stops Table 4 21 Bit description of Status word under Homing Mode For other bits please refer to 4 6 Status word 4 6 4 Origin Search Method Origin search methods supported by this product ar...

Страница 46: ...e positive direction until Index Pulse is detected and sets that position as sensor origin position Method 18 Homing on Positive Limit Switch Figure 4 9 Homing Method 18 In this homing method it start to move in the positive direction and the speed is Speed during search for switch 6099h Sub Index 1 until Positive Limit Switch is detected When a Positive Limit Switch is detected it moves out of th...

Страница 47: ...posite direction to detect the Origin Switch again and sets that position as sensor origin position Method 28 Homing on Origin Switch Negative Direction Positive Edge Figure 4 11 Homing Method 28 In this homing method it start to move in the negative direction and the speed is Speed during search for switch 6099h Sub Index 1 until Origin Switch is detected If a Negative Limit Switch is detected it...

Страница 48: ...rrent position as sensor origin position Method 37 Set the current position origin and reset current position This origin search method is to set current position as sensor origin position If set value of Home offset 607Ch is not 0 initialize current position as Home offset value Rev 37 FASTECH Co Ltd 48 ...

Страница 49: ...ve edge counter 60D6h Indicate the number of times the Falling edge of Touch Probe 1 was detected Touch probe 2 positive edge counter 60D7h Indicate the number of times the Rising edge of Touch Probe 2 was detected Touch probe 2 negative edge counter 60D8h Indicate the number of times the Falling edge of Touch Probe 1 was detected Touch probe source 60D0h Select input signal of Touch Probe 1 2 Tab...

Страница 50: ...llows Figure 4 13 Touch Probe Operation Bit 1 Bit 9 1 Touch probe status of bit number 6 7 14 15 Counter value increases every single of input signal acknowledgement Range of this value is 0 3 For the frequency of input signal acknowledgement please check Touch probe 1 positive edge counter Touch probe 2 positive edge counter Touch probe 1 negative edge counter Touch probe 2 negative edge counter ...

Страница 51: ...gital output levels R W Active Level of user outputs Object 2010h Brake delay R W Set Delay at BRAKE output Table 4 24 I O related Objects 4 8 3 User I O Able to set Active Level of user I O through Digital input levels Digital output levels Following picture describes the relationship between Digital inputs and Digital input levels and Digital outputs and Digital output levels XOR XOR AND User In...

Страница 52: ...bject 60FEh Digital outputs 4 9 Safety Function The Safety Function allows the motor to shutdown and stop the motor in emergency situation or to protect the operator or equipment When the Safety Function is activated the motor is shut off and the motor stops by inertia However the control of the drive except the motor power and EtherCAT communication are normally performed Digital Inputs and Digit...

Страница 53: ... ON OFF status of TQOFF1 TQOFF2 and TQMON means the conduction non conduction state of the photocoupler of the corresponding signals Activation When the TQOFF Inputs are OFF the Safety Function is activated When the Safety Function is ac tivated the power supplied to the motor is cut off and Drive State Machine changes to the Switch on disabled state Safety Activated Bit 15 of Status word indicate...

Страница 54: ...bnormal safety status alarm1 occurs The Abnormal Safety Input State alarm can be clear by recycling the power of the controller It can not clear by Fault Reset command of Control word Deactivation Even if the TQOFF Inputs are changed to ON again the activated Safety Function is not deactivated automatically To deactivate the Safety Function do the following Confirm that all the TQOFF Inputs are ON...

Страница 55: ...Chapter 5 Operation Rev 37 FASTECH Co Ltd 55 ...

Страница 56: ...vement Command Execute command by setting of Control word 10 Check Status Check the status of Motion execution 11 Set Drive Reset object if need 5 2 Setting 5 2 1 Installation Install motor controller according to conditions of installation Check operation in advance under unload status and recommend to connect Load Please refer to 2 1 Precautions of Installation 5 2 2 Wiring Check power cable mot...

Страница 57: ...of operation display 6061h whether it has properly changed 5 3 3 Set Operation Set Objects according to Motion will be executed Information Trial operation explains operation by Profile Position Mode Input 10000 at Target position 607Ah Input 1000 at Profile velocity 6081h 5 3 4 Movement Command Once setting of Motion related Object has completed execute movement command by setting of Control word...

Страница 58: ...between Reverse limit direction and Limit Sensors please refer to 4 8 5 BRAKE Output 5 4 2 Change I O Signal Level LIMIT LIMIT ORIGIN Input Signal If Active Level of LIMIT LIMIT ORIGIN input signal has set different from actual connection indication value of Actual signal input and Digital inputs can be different Reset Active Level of signals by setting the value of Sensors logics 2001h Able to se...

Страница 59: ...Chapter 6 EtherCAT Object Dictionary Rev 37 FASTECH Co Ltd 59 ...

Страница 60: ...ld Index Field Description 1000h 1FFFh Communication profile area Objects that sets EtherCAT communication related settings or diplay status or information 2000h 5FFFh Manufacture specific area FASTECH only Objects 6000h 9FFFh Standardized Device Profile Area Objects defined in the CiA402 Drive Profile Table 6 1 Index Table of Objects If various parameter combined at the one object able to access ...

Страница 61: ...ion No Object can not be mapping at PDO TxPDO Object can be mapping at TxPDO RxPDO Object can be mapping at RxPDO Table 6 4 PDO Mapping Description 6 1 7 Constant Value Default value what correspondent object indicates correspondent value can be differentially indicated by model or version of product 6 1 8 Value Range Value Range indicates input range of correspondent object correspondent range ca...

Страница 62: ...r Current error Generic er ror Table 6 6 Error register correspondent bit can be set if correspondent error generated General Error always goes to be set once bit error generated 6 2 3 Object 1008h Device name Sub Index index Name Type Access Constant Value 1008h 0 Device name STR 18 RO Ezi STEPII EtherCAT MINI This object indicates name of device Information The value of Device name can be differ...

Страница 63: ...save Parameter 1 31 0 Table 6 8 Save Parameters State Check SAVE part for each object 6 2 7 Object 1011h Restore default parameters Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 1011h 0 Number of entries U8 RO No No 1 1 Restore default parameters U32 RW No No It requests to device to restore objects value back to Default value to store into EEPROM Need to input 64616F...

Страница 64: ...t U16 RW No No 0 65535 12 Sync Error Counter Limit This object sets the crieria for judging the failure to receive Process Data as a Communication Error when the Communication Synchronization type is DC Sync Event If product was not received the Process Data SM Event does not occur sent by the Master Internal SM Event Missed Counter increases by 3 Counter decreases by 1 when Process Data is normal...

Страница 65: ...d in the Sub Index position The value of this object increases from 6 up to 50 At 50 when new diagnosis messages occur again it increases again from 6 i e if more than 45 diagnosis messages are generated only 45 diagnosis messages remain and the oldest messages are erased Newest Acknowledged Message This object can set whether the diagnosis messages have been acknowledged By setting a number of 6 ...

Страница 66: ...ion Mode is Acknowledge mode this bit indicated that there are 45 unacknowledged messages and the newly created messages were discarded Diagnosis Messages 1 45 This object is the content of the diagnosis message it s a struct type and it is as follows Byte offset Size Name Description 0 4 bytes Diag Code Code of the Diagnosis Message 4 1 byte Flags type Type of message 0 is Info 1 is Warning 2 is ...

Страница 67: ...0020h 3 3rd PDO object U32 RW No No 6081 0020h 4 4th PDO object U32 RW No No 6060 0008h 5 5th PDO object U32 RW No No 0000 0000h 6 6th PDO object U32 RW No No 0000 0000h 7 7th PDO object U32 RW No No 0000 0000h 8 8th PDO object U32 RW No No 0000 0000h 9 9th PDO object U32 RW No No 0000 0000h 10 10th PDO object U32 RW No No 0000 0000h This object points RxPDO 1 information among RxPDO setting RxPDO...

Страница 68: ...32 RW No No 0000 0000h 8 8th PDO object U32 RW No No 0000 0000h 9 9th PDO object U32 RW No No 0000 0000h 10 10th PDO object U32 RW No No 0000 0000h This object points TxPDO 1 information among TxPDO TxPDO Map 1 is configurable Please refer to 3 2 PDO Mapping 6 3 5 Object 1C12h RxPDO assign Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 1C12h 0 Number of entries U8 RO N...

Страница 69: ... and copy time U32 RO No No 10000 8 Get cycle time U16 RW No No 0000h 9 Delay time U32 RO No No 0000 0000h 10 Sync0 cycle time U32 RW No No 0000 0000h 11 SM Event missed U16 RO No No 0000h 12 Cycle time too small U16 RO No No 0000h 32 Sync error BOOL RO No No 0 1 0 6 4 3 Object 1C33h SM input parameter Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 1C33h 0 Number of en...

Страница 70: ...able 6 15 Definition of Control word For details please refer to each profile description 6 5 3 Object 6041h Status word Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 6041h 0 Status word U16 RO No TxPDO 0000h This object indicates the status of controller Each bit of this object has a meaning as follows Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Safety Ac t...

Страница 71: ... 6 18 Shutdown Option Code 6 5 6 Object 605Ch Disable operation option code Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 605Ch 0 Disable operation option code I16 RW Yes No 0 1 1 This object is to set operation in case of deactivated operation once controller goes Disable Operation status Value Description 0 Torque Disable Motor Free 1 After decelerated stop disable ...

Страница 72: ...n display 6061h 6 5 10 Object 6061h Mode of operation display Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 6061h 0 Mode of operation display I8 RO No TxPDO 0 This object indicates current operation mode Definition of value is same as Mode of operation 6060h 6 5 11 Object 6062h Position demand value Sub PDO Value Default Index index Name Type Access SAVE Mapping Range...

Страница 73: ...483647 0 This object sets target position under Profile Position Mode Cyclic Synchronous Position Mode 6 5 16 Object 607Ch Home offset Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 607Ch 0 Home offset I32 RW Yes No 2147483648 2147483647 0 This object sets value of difference between sensor origin position and mechanical origin position During Homing Mode completes ori...

Страница 74: ...it 4 Bit 3 Bit 2 Bit 1 Bit 0 Position Po larity Table 6 23 Polarity Position related Objects will be multiplied by 1 when Position Polarity is 1 6 5 19 Object 607Fh Max profile velocity Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 607Fh 0 Max profile velocity U32 RW Yes No 1 2500000 2500000 This object sets Max allowable velocity Whatever it receives value of velocit...

Страница 75: ...ame 0 No Mode 17 Homing on Negative Limit Switch 18 Homing on Positive Limit Switch 24 Homing on Origin Switch Positive Direction Negative Edge 28 Homing on Origin Switch Negative Direction Positive Edge 35 Set the current position origin 37 Set the current position origin and reset current position Table 6 24 Origin Search Method Please refer to origin search method for detail operation direction...

Страница 76: ...on 0 0 Turn off Touch probe 1 function 1 Turn on Touch probe 1 function 1 0 Sense 1st signal only 1 Sense signal continuously 2 3 0 Sense origin signal 1 2 Sense signal set at 60D0h 3 4 1 Sense rising edge of 1 signal 5 1 Sense falling edge of 1 signal 6 7 0 8 0 Turn off Touch probe 2 function 1 Turn on Touch probe 2 function 9 0 Sense 1st signal only 1 Sense signal continuously 10 11 0 Sense orig...

Страница 77: ... Index index Name Type Access SAVE Mapping Range Value 60BAh 0 Touch probe 1 positive value I32 RO No TxPDO 0 This object indicates encoder position value sensed by Touch Probe 1 at rising edge 6 5 29 Object 60BBh Touch probe 1 negative value Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 60BBh 0 Touch probe 1 negative value I32 RO No TxPDO 0 This object indicates enco...

Страница 78: ...0B8h as 2 uses input signal already set at this Object Value Input Source 1 Origin Switch 2 User Input 1 3 User Input 2 Table 6 26 Touch probe 1 source Value Input Source 1 Origin Switch 2 User Input 3 3 User Input 4 Table 6 27 Touch probe 2 source 6 5 34 Object 60D5h Touch probe 1 positive edge counter Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 60D5h 0 Touch probe...

Страница 79: ...d I16 RO 34 15 15th supported homing method I16 RO 35 16 16th supported homing method I16 RO 36 17 17th supported homing method I16 RO 37 18 18th supported homing method I16 RO 3 19 19th supported homing method I16 RO 4 20 20th supported homing method I16 RO 5 21 21st supported homing method I16 RO 6 22 22nd supported homing method I16 RO 0 30 30th supported homing method I16 RO 0 This object indi...

Страница 80: ...FEh Digital outputs Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 60FEh 0 Number of entries U8 RO No No 2 1 Physical outputs U32 RW No RxPDO 0000 0000h 2 Bit mask U32 RW No No 003F 0000h Able to control User output through this Object and Brake Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24 Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16 User Output 2...

Страница 81: ...x index Name Type Access Constant Value 6502h 0 Supported drive modes U32 RO 0000 00A1h This Object indicates Operation modes currently supported The meaning of each bit of this object is as follows Bit 31 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Cyclic Syn chronous Torque Mode Cyclic Syn chronous Velocity Mode Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Cyclic Syn chronous Position Mode Interp...

Страница 82: ... Value Definition 0 Low active 1 High active Table 6 35 Definition of Logic Value 6 6 2 Object 2002h Reverse limit direction Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2002h 0 Reverse limit direction U8 RW Yes No 0 1 0 This Object can set direction of Hardware Limit Switch It sets 1 IN OUT connection of LIMIT and LIMIT inputs will be exchanged Information Please us...

Страница 83: ...ion 100Ah 02 02 32 or higher Declaration ratio during decelerated stop follows Deceleration of correspondent operation mode The deceleration ratio for Cyclic Synchronous Position Mode follows Object 201Bh Limit Deceleration 6 6 4 Object 2004h External Encoder Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2004h 0 Number of entries U8 RO No No 3 1 Use Encoder U8 RW Yes ...

Страница 84: ...le the motor is running It is set based on the rated current of the motor This value related to the torque during operation of the motor If this value is high torque during operation will increase Therefore if you think that the torque is insufficient increase the value of this parameter to increase the torque Run current Value 10 Information If Run current value is high the heating temperature of...

Страница 85: ...reased So please be careful The control current is limited to 4 A same as Run current Therefore a motor 56mm 60mm that rated current value exceeds 2 7 A will not increase as much as the set value even if the set value is raised Information This object can NOT be set while it s Operation Enabled state Please set after Operation Disable Please refer to 4 1 Drive Status Control 6 6 8 Object 2009h Sto...

Страница 86: ... RW Yes No 500 100000 10000 This Object sets required number of Pulse to rotate 1 revolution of motor Information Recommend to set same or lower value of Encoder resolution 2005h In case of setting higher value than Encoder resolution certain value of Following error can be generated Information This object can NOT be set while it s Operation Enabled state Please set after Operation Disable Please...

Страница 87: ... User output Bit Description 0 Set Level of User Output 1 1 Set Level of User Output 2 2 15 6 6 15 Object 201Bh Limit Deceleration This object sets deceleration ratio applied in deceleration stop in Cyclic Synchronous Position Mode Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 201Bh 0 Limit Deceleration U32 RW Yes No 1000 1000000000 1000000 Unit is speed of increasing...

Страница 88: ... without any restrictions 6 6 17 Object 2021h Error code history Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2021h 0 Number of entries U8 RO No No 30 1 Latest error code U16 RO No No 0 2 2nd latest error code U16 RO No No 0 3 3rd latest error code U16 RO No No 0 4 4th latest error code U16 RO No No 0 30 30th latest error code U16 RO No No 0 Displays the most recent ...

Страница 89: ...TR Operating Time 28 s 12 16 1 28 1 LTR Enable Time 23 s 10 3 8 9 5 23 3 LTR Rotating Count 17 rev 10 1 1 2 4 3 9 17 4 POR Operating Time 16 s 16 1 POR Enable Time 13 s 3 8 9 5 13 3 POR Rotating Count 7 rev 1 1 2 4 3 9 7 4 Table 6 41 Lifetime Record LTR Operating Time It displays the total time it has been powered on and operated for a lifetime Since the product was shipped The unit is s Times bel...

Страница 90: ...le Time LTR2 Rotating Count can be initialized When the initialization command is written the values of the above three objects are immediately cleared to 0 and the data is accumulated again from that time 6 6 19 Object 2030h Advanced settings Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2030h 0 Number of entries U8 RO No No 5 1 Automatic recovery from communication ...

Страница 91: ...r Code FF45h occurs when Safety function is activated by turning the TQOFF inputs OFF This error can be cleared with the Fault reset command Information This object is supported on devices with Software version 100Ah 02 02 51 or higher 6 6 20 Object 2040h Safety Mode Sub PDO Value Default Index index Name Type Access SAVE Mapping Range Value 2040h 0 Number of entries U8 RO No No 4 1 Safety Status ...

Страница 92: ...to 1 it can be checked whether the TQOFF Inputs are ON or OFF by Digital Out1 Value Description 0 1 Use the Digital Out1 as Safety Function Digital Out1 output becomes ON when assigned input at TQOFF Input is OFF Table 6 44 Control Safety Output When Digital Out1 was assigned to the Safety Function the value of bit 16 of Object 60FEh Digital outputs that controls the output of Digital Out1 is igno...

Страница 93: ...ut Logic when the value is 0 if Safety Output is ON the photocoupler of the assigned output as Safety Output is ON Conduction when the value is 1 if Safety Output is ON the photocoupler of the assigned output as Safety Output is OFF Non conduction Value Definition Output status Photocoupler status 0 Low active ON ON Conduction OFF OFF Non conduction 1 High active OFF ON Conduction ON OFF Non condu...

Страница 94: ... the EtherCAT standard Update Object 2025h Lifetime Record Update the value table of Object 605Ah Quick stop option code Update the description of Object 2009h Stop current 2021 11 02 Rev 35 Update the description of Object 2030h Advanced settings Update the descriptions of Control word Status word in 4 CiA402 Drive Profile Update the table of 4 2 Error Code Update the description of Object 10F1h ...

Страница 95: ...cation in order to reflect improvement or change of the product specifications and for the improvement of user manual Ezi STEPII is registered trademark of FASTECH Co Ltd which is registered in Korea EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Extra name of system and product on this manual is each company of brand or trademark Copyright 20...

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